From 517a352fc4aa94f1ec8e369b0edcec574305fec9 Mon Sep 17 00:00:00 2001
From: Isaac-F24 <isaacfuksman@gmail.com>
Date: Sat, 10 Feb 2024 11:43:19 -0500
Subject: [PATCH] change to stop moving when no path

---
 lunabot_control/src/mpc.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/lunabot_control/src/mpc.cpp b/lunabot_control/src/mpc.cpp
index dd89b46b..50abbf6a 100644
--- a/lunabot_control/src/mpc.cpp
+++ b/lunabot_control/src/mpc.cpp
@@ -271,6 +271,7 @@ bool comparator(std::pair<Eigen::MatrixXd, double> a, std::pair<Eigen::MatrixXd,
 void MPC::calculate_velocity() {
   SWRI_PROFILE("calculate-velocity");
   if (this->robot_pos_.empty() || this->path_.empty() || !this->enabled_) {
+    MPC::publish_velocity_(0, 0);
     return;
   }
   int horizon_length = this->horizon_length_;